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<a href="timer_8c.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">/**************************************************************************/</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &quot;<a class="code" href="timer_8h.html">timer.h</a>&quot;</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &quot;gd32f1x0.h&quot;</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &quot;<a class="code" href="config_8h.html">config.h</a>&quot;</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span> </div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="timer_8c.html#ab3614c1dcfba485b2e299839d9c189e4">   20</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="timer_8c.html#ab3614c1dcfba485b2e299839d9c189e4">update_pwm_dutycycle</a>(<span class="keywordtype">float</span> ch0, <span class="keywordtype">float</span> ch1, <span class="keywordtype">float</span> ch2) {</div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    <span class="comment">/* update the comparison register of timer1 */</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>    TIMER_CH0CV(TIMER1) = (uint32_t) ((<span class="keywordtype">float</span>) <a class="code hl_define" href="timer_8h.html#aacaca0988244bd3a888ca5befa89f44b">PWM_PERIOD</a> * ch0);</div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    TIMER_CH1CV(TIMER1) = (uint32_t) ((<span class="keywordtype">float</span>) <a class="code hl_define" href="timer_8h.html#aacaca0988244bd3a888ca5befa89f44b">PWM_PERIOD</a> * ch1);</div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>    TIMER_CH2CV(TIMER1) = (uint32_t) ((<span class="keywordtype">float</span>) <a class="code hl_define" href="timer_8h.html#aacaca0988244bd3a888ca5befa89f44b">PWM_PERIOD</a> * ch2);</div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>}</div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="timer_8c.html#a96e7b337ea7bf3c245ff1053e4843a1d">   30</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="timer_8c.html#a96e7b337ea7bf3c245ff1053e4843a1d">timer13_disable</a>(<span class="keywordtype">void</span>) {</div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    <span class="comment">/* stop TIMER13 and deinit */</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    timer_disable(TIMER13);</div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    timer_deinit(TIMER13);</div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    <span class="comment">/* disable TIMER13 update interrupt and clock*/</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    timer_interrupt_disable(TIMER13, TIMER_INT_UP);</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    nvic_irq_disable(TIMER13_IRQn);</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    rcu_periph_clock_disable(RCU_TIMER13);</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>}</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="timer_8c.html#a0ff329af778ba1ea50c17d3184af78d5">   44</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="timer_8c.html#a0ff329af778ba1ea50c17d3184af78d5">timer2_disable</a>(<span class="keywordtype">void</span>) {</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    <span class="comment">/* stop TIMER2 and deinit */</span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    timer_disable(TIMER2);</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    timer_deinit(TIMER2);</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    <span class="comment">/* disable TIMER2 update interrupt and clock */</span></div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    timer_interrupt_disable(TIMER2, TIMER_INT_UP);</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    nvic_irq_disable(TIMER2_IRQn);</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    rcu_periph_clock_disable(RCU_TIMER2);</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    <span class="comment">/* zero the torque in all directions to release the motor */</span></div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    <a class="code hl_function" href="timer_8c.html#ab3614c1dcfba485b2e299839d9c189e4">update_pwm_dutycycle</a>(0.5f, 0.5f, 0.5f);</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>}</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="timer_8c.html#af7559b2302c6fd04f459ae08a2eb8f6d">   61</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="timer_8c.html#af7559b2302c6fd04f459ae08a2eb8f6d">timer2_config</a>(<span class="keywordtype">void</span>) {</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    timer_parameter_struct timer_initpara;</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    <span class="comment">/* enable TIMER2 clock*/</span></div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    rcu_periph_clock_enable(RCU_TIMER2);</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    timer_deinit(TIMER2);</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span> </div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="comment">/* TIMER1CLK = SystemCoreClock / 72 = 1MHz */</span></div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    timer_initpara.prescaler = 71;</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span> </div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    <span class="comment">/* timer edge alignment up count mode */</span></div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    timer_initpara.alignedmode = TIMER_COUNTER_EDGE;</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    timer_initpara.counterdirection = TIMER_COUNTER_UP;</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <span class="comment">/* Period = 1000 / TIM2_FREQUENCY (kHz) */</span></div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    timer_initpara.period = (1000 / <a class="code hl_define" href="config_8h.html#abf175a4d203eb22407f26a7e09abe70e">TIM2_FREQUENCY</a>) - 1;</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    timer_initpara.clockdivision = TIMER_CKDIV_DIV1;</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    timer_init(TIMER2, &amp;timer_initpara);</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span> </div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    <span class="comment">/* enable TIMER2 update interrupt */</span></div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    timer_interrupt_enable(TIMER2, TIMER_INT_UP);</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    timer_enable(TIMER2);</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    nvic_irq_enable(TIMER2_IRQn, <a class="code hl_define" href="config_8h.html#af73502ecef65b17c424513be3294841f">TIM2_PRIORITY</a>, 0);</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>}</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span> </div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"><a class="line" href="timer_8c.html#a97f6f408a34a56cfe1488f8aafa54756">   89</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="timer_8c.html#a97f6f408a34a56cfe1488f8aafa54756">timer13_config</a>(<span class="keywordtype">void</span>) {</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    timer_parameter_struct timer_initpara;</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span> </div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    <span class="comment">/* enable TIMER13 clock*/</span></div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    rcu_periph_clock_enable(RCU_TIMER13);</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    timer_deinit(TIMER13);</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    <span class="comment">/* TIMER1CLK = SystemCoreClock / 72 = 1MHz */</span></div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    timer_initpara.prescaler = 71;</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    <span class="comment">/* timer edge alignment up count mode */</span></div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    timer_initpara.alignedmode = TIMER_COUNTER_EDGE;</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    timer_initpara.counterdirection = TIMER_COUNTER_UP;</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span> </div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    <span class="comment">/* Period = 1000000 / TIM13_FREQUENCY (kHz) */</span></div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    timer_initpara.period = (1000000 / <a class="code hl_define" href="config_8h.html#ae9289eb166344bb9d0d6560b6da41118">TIM13_FREQUENCY</a>) - 1;</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    timer_initpara.clockdivision = TIMER_CKDIV_DIV1;</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    timer_init(TIMER13, &amp;timer_initpara);</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span> </div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    <span class="comment">/* enable TIMER13 update interrupt */</span></div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>    timer_interrupt_enable(TIMER13, TIMER_INT_UP);</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>    timer_enable(TIMER13);</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>    nvic_irq_enable(TIMER13_IRQn, <a class="code hl_define" href="config_8h.html#a5726838e06fba2bf7e5a7ebf44de9641">TIM13_PRIORITY</a>, 0);</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>}</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span> </div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="timer_8c.html#a5047a45bb0e8e868a84cbe6c6d5f8ec8">  117</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="timer_8c.html#a5047a45bb0e8e868a84cbe6c6d5f8ec8">pwm_config</a>(<span class="keywordtype">void</span>) {</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    timer_oc_parameter_struct timer_ocintpara;</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>    timer_parameter_struct timer_initpara;</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span> </div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>    <span class="comment">/* enable GPIO clock and TIMER1 clock*/</span></div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    rcu_periph_clock_enable(RCU_GPIOA);</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>    rcu_periph_clock_enable(RCU_TIMER1);</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>    timer_deinit(TIMER1);</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span> </div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    <span class="comment">/* configure TIMER1_CH0 as alternate function push-pull */</span></div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_0);</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_0);</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span> </div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>    <span class="comment">/* configure TIMER1_CH1 as alternate function push-pull */</span></div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>    gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_1);</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_1);</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span> </div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>    <span class="comment">/* configure TIMER1_CH2 as alternate function push-pull */</span></div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_2);</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>    gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_2);</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span> </div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>    <span class="comment">/* connect port to TIMER1_CH0 1 2 */</span></div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>    gpio_af_set(GPIOA, GPIO_AF_2, GPIO_PIN_0);</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>    gpio_af_set(GPIOA, GPIO_AF_2, GPIO_PIN_1);</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>    gpio_af_set(GPIOA, GPIO_AF_2, GPIO_PIN_2);</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span> </div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>    <span class="comment">/* TIMER1CLK = SystemCoreClock / 2 = 18MHz */</span></div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>    timer_initpara.prescaler = 1;</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span> </div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>    <span class="comment">/* timer center alignment up count mode */</span></div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>    timer_initpara.alignedmode = TIMER_COUNTER_CENTER_UP;</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>    timer_initpara.counterdirection = TIMER_COUNTER_UP;</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span> </div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    <span class="comment">/* Period = 36000 / PWM_FREQUENCY */</span></div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    timer_initpara.period = <a class="code hl_define" href="timer_8h.html#aacaca0988244bd3a888ca5befa89f44b">PWM_PERIOD</a>;</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>    timer_initpara.clockdivision = TIMER_CKDIV_DIV1;</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>    timer_initpara.repetitioncounter = 0;</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    timer_init(TIMER1, &amp;timer_initpara);</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span> </div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>    <span class="comment">/* CH1, CH2 and CH3 configuration in PWM0 mode */</span></div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    timer_ocintpara.ocpolarity = TIMER_OC_POLARITY_HIGH;</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    timer_ocintpara.outputstate = TIMER_CCX_ENABLE;</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>    timer_channel_output_config(TIMER1, TIMER_CH_0, &amp;timer_ocintpara);</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    timer_channel_output_config(TIMER1, TIMER_CH_1, &amp;timer_ocintpara);</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    timer_channel_output_config(TIMER1, TIMER_CH_2, &amp;timer_ocintpara);</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span> </div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>    <span class="comment">/* CH0 configuration in PWM mode1,duty cycle 50% */</span></div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>    timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_0, <a class="code hl_define" href="timer_8h.html#aacaca0988244bd3a888ca5befa89f44b">PWM_PERIOD</a> / 2);</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>    timer_channel_output_mode_config(TIMER1, TIMER_CH_0, TIMER_OC_MODE_PWM0);</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>    timer_channel_output_shadow_config(TIMER1, TIMER_CH_0, TIMER_OC_SHADOW_DISABLE);</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span> </div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>    <span class="comment">/* CH1 configuration in PWM mode1,duty cycle 25% */</span></div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>    timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_1, <a class="code hl_define" href="timer_8h.html#aacaca0988244bd3a888ca5befa89f44b">PWM_PERIOD</a> / 2);</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>    timer_channel_output_mode_config(TIMER1, TIMER_CH_1, TIMER_OC_MODE_PWM0);</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>    timer_channel_output_shadow_config(TIMER1, TIMER_CH_1, TIMER_OC_SHADOW_DISABLE);</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span> </div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>    <span class="comment">/* CH2 configuration in PWM mode1,duty cycle 12.5% */</span></div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>    timer_channel_output_pulse_value_config(TIMER1, TIMER_CH_2, <a class="code hl_define" href="timer_8h.html#aacaca0988244bd3a888ca5befa89f44b">PWM_PERIOD</a> / 2);</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>    timer_channel_output_mode_config(TIMER1, TIMER_CH_2, TIMER_OC_MODE_PWM0);</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>    timer_channel_output_shadow_config(TIMER1, TIMER_CH_2, TIMER_OC_SHADOW_DISABLE);</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span> </div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>    <span class="comment">/* auto-reload preload and timer enable */</span></div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>    timer_auto_reload_shadow_enable(TIMER1);</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>    timer_enable(TIMER1);</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>}</div>
<div class="ttc" id="aconfig_8h_html"><div class="ttname"><a href="config_8h.html">config.h</a></div><div class="ttdoc">used to place important parameter configurations for users</div></div>
<div class="ttc" id="aconfig_8h_html_a5726838e06fba2bf7e5a7ebf44de9641"><div class="ttname"><a href="config_8h.html#a5726838e06fba2bf7e5a7ebf44de9641">TIM13_PRIORITY</a></div><div class="ttdeci">#define TIM13_PRIORITY</div><div class="ttdoc">TIMER13 preemption priority set to 3.</div><div class="ttdef"><b>Definition:</b> <a href="config_8h_source.html#l00041">config.h:41</a></div></div>
<div class="ttc" id="aconfig_8h_html_abf175a4d203eb22407f26a7e09abe70e"><div class="ttname"><a href="config_8h.html#abf175a4d203eb22407f26a7e09abe70e">TIM2_FREQUENCY</a></div><div class="ttdeci">#define TIM2_FREQUENCY</div><div class="ttdoc">set FOC loop frequency to 8kHz</div><div class="ttdef"><b>Definition:</b> <a href="config_8h_source.html#l00028">config.h:28</a></div></div>
<div class="ttc" id="aconfig_8h_html_ae9289eb166344bb9d0d6560b6da41118"><div class="ttname"><a href="config_8h.html#ae9289eb166344bb9d0d6560b6da41118">TIM13_FREQUENCY</a></div><div class="ttdeci">#define TIM13_FREQUENCY</div><div class="ttdoc">set speed/angle PID loop frequency to 100Hz</div><div class="ttdef"><b>Definition:</b> <a href="config_8h_source.html#l00030">config.h:30</a></div></div>
<div class="ttc" id="aconfig_8h_html_af73502ecef65b17c424513be3294841f"><div class="ttname"><a href="config_8h.html#af73502ecef65b17c424513be3294841f">TIM2_PRIORITY</a></div><div class="ttdeci">#define TIM2_PRIORITY</div><div class="ttdoc">TIMER2 preemption priority set to 2.</div><div class="ttdef"><b>Definition:</b> <a href="config_8h_source.html#l00039">config.h:39</a></div></div>
<div class="ttc" id="atimer_8c_html_a0ff329af778ba1ea50c17d3184af78d5"><div class="ttname"><a href="timer_8c.html#a0ff329af778ba1ea50c17d3184af78d5">timer2_disable</a></div><div class="ttdeci">void timer2_disable(void)</div><div class="ttdoc">disable timer2 periph and timer2 interrupt</div><div class="ttdef"><b>Definition:</b> <a href="timer_8c_source.html#l00044">timer.c:44</a></div></div>
<div class="ttc" id="atimer_8c_html_a5047a45bb0e8e868a84cbe6c6d5f8ec8"><div class="ttname"><a href="timer_8c.html#a5047a45bb0e8e868a84cbe6c6d5f8ec8">pwm_config</a></div><div class="ttdeci">void pwm_config(void)</div><div class="ttdoc">configure timer1 periph and its gpios</div><div class="ttdef"><b>Definition:</b> <a href="timer_8c_source.html#l00117">timer.c:117</a></div></div>
<div class="ttc" id="atimer_8c_html_a96e7b337ea7bf3c245ff1053e4843a1d"><div class="ttname"><a href="timer_8c.html#a96e7b337ea7bf3c245ff1053e4843a1d">timer13_disable</a></div><div class="ttdeci">void timer13_disable(void)</div><div class="ttdoc">disable timer13 periph and timer2 interrupt</div><div class="ttdef"><b>Definition:</b> <a href="timer_8c_source.html#l00030">timer.c:30</a></div></div>
<div class="ttc" id="atimer_8c_html_a97f6f408a34a56cfe1488f8aafa54756"><div class="ttname"><a href="timer_8c.html#a97f6f408a34a56cfe1488f8aafa54756">timer13_config</a></div><div class="ttdeci">void timer13_config(void)</div><div class="ttdoc">configure timer13 periph for timing interrupt</div><div class="ttdef"><b>Definition:</b> <a href="timer_8c_source.html#l00089">timer.c:89</a></div></div>
<div class="ttc" id="atimer_8c_html_ab3614c1dcfba485b2e299839d9c189e4"><div class="ttname"><a href="timer_8c.html#ab3614c1dcfba485b2e299839d9c189e4">update_pwm_dutycycle</a></div><div class="ttdeci">void update_pwm_dutycycle(float ch0, float ch1, float ch2)</div><div class="ttdoc">update timer1 ch0 1 2 duty-cycle</div><div class="ttdef"><b>Definition:</b> <a href="timer_8c_source.html#l00020">timer.c:20</a></div></div>
<div class="ttc" id="atimer_8c_html_af7559b2302c6fd04f459ae08a2eb8f6d"><div class="ttname"><a href="timer_8c.html#af7559b2302c6fd04f459ae08a2eb8f6d">timer2_config</a></div><div class="ttdeci">void timer2_config(void)</div><div class="ttdoc">configure timer2 periph for timing interrupt</div><div class="ttdef"><b>Definition:</b> <a href="timer_8c_source.html#l00061">timer.c:61</a></div></div>
<div class="ttc" id="atimer_8h_html"><div class="ttname"><a href="timer_8h.html">timer.h</a></div><div class="ttdoc">this is the header file of timer.c.</div></div>
<div class="ttc" id="atimer_8h_html_aacaca0988244bd3a888ca5befa89f44b"><div class="ttname"><a href="timer_8h.html#aacaca0988244bd3a888ca5befa89f44b">PWM_PERIOD</a></div><div class="ttdeci">#define PWM_PERIOD</div><div class="ttdoc">PWM period calculate from PWM_FREQUENCY.</div><div class="ttdef"><b>Definition:</b> <a href="timer_8h_source.html#l00015">timer.h:15</a></div></div>
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